Humanoid locomotion
Robust walking, landing stabilization, and impedance or admittance control for humanoids on uneven terrain.
Research-first homepage
Robotics research shaped by contact, balance, and whole-body control.
I build and study robotic systems that move reliably, interact physically, and make high-dimensional control problems tractable in the real world.
Research focus
Three threads connect the work.
The site is organized around locomotion, balance, and physically interactive control rather than around theme-specific blog categories.
Whole-body balance control
Task-space and momentum-based methods for balancing articulated robots with physical constraints and uncertain contact.
Interactive manipulation
Dual-arm teaching, robotic hands, and physically interactive systems that transfer contact intent into reliable motion.
Selected publications
A curated entry point into the publication archive.
These papers capture the main control and locomotion themes that define the public profile of the site.
Impedance Control of Humanoid Walking on Uneven Terrain With Centroidal Momentum Dynamics Using Quadratic Programming
Joonhee Jo, Yonghwan Oh
legged locomotionimpedance controlcentroidal momentum dynamics
Robust Landing Stabilization of Humanoid Robot on Uneven Terrain via Admittance Control and Heel Strike Motion
Joonhee Jo, Gyunghoon Park, Yonghwan Oh
legged locomotionlanding stabilizationadmittance control
Contact Force based Balancing and Tracking Control of a Ballbot using Projected Task Space Dynamics with Inequality Constraints
Joonhee Jo, Yonghwan Oh
ballbotprojected task space dynamicscontact force balancing
Robust Walking Stabilization Strategy of Humanoid Robots on Uneven Terrain via QP-based Impedance/Admittance Control
Joonhee Jo, Gyunghoon Park, Yonghwan Oh
legged locomotionwalking stabilizationimpedance/admittance control
Selected projects
Projects are presented as research programs, not theme demos.
Each project here corresponds to a real robotics problem or research track.
2019–2022
Humanoid Walking on Uneven Terrain
A research track on landing stabilization, impedance control, and centroidal momentum formulations for humanoid walking under uncertain terrain contact.
Humanoid roboticsWhole-body controlUneven terrain locomotion
2020
Ballbot Balance and Tracking
Contact-force-based balance and tracking control for a ballbot, using projected task-space dynamics with unilateral and friction constraints.
BallbotContact dynamicsTask-space control
2011–2014
Robotic Hands and Multi-Contact Manipulation
Early research on grasping force control, compliance, internal force design, and dexterous multi-contact manipulation with robotic hands.
Robotic handForce controlMulti-contact manipulation
2012–2016
Whole-Body Direct Teaching for Dual-Arm Robots
Whole-body balancing and gravity-aware task-space control for upper-body dual-arm robots used in direct teaching and heavy-object interaction.
Dual-arm robotDirect teachingWhole-body balance
Recent writing
The existing writing archive stays available and clearly labeled.
Technical notes, Python articles, and system setup notes are preserved in a cleaner archive with clear language labels.
Korean
[System] 윈도우 10에서 WSL로 우분투 개발환경 설정
Ubuntu 20.04 LTS, C++
Korean
[Python] 데이터 시각화하기 - 평행선긋기, 화살표, 구간 음영 만들기
data visualization - horisontal line, range shadowing
Korean
[Python] 데이터 시각화하기 - 그래프 그리는 함수 만들기
data visualization - creating custom graph funtion
Short bio
Joonhee Jo builds research-facing robotics work into a single public narrative.
Joonhee Jo works on humanoid locomotion, whole-body balance control, and physically interactive robotic systems across legged, wheeled, and manipulation platforms.